Adapt the layout for usage of rake-compiler and allowing gem creation

Manifest.txt

@@ -130,7 +130,6 @@ lib/orocos/uri.rb
 lib/orocos/async.rb
 lib/orocos/logging.rb
 lib/orocos/scripts.rb
-lib/orocos/roby/gui/orocos_composer_ui.rb
 lib/orocos/ros.rb
 lib/orocos/ros/async.rb
 lib/orocos/ros/rpc.rb
@@ -167,21 +166,22 @@ lib/orocos/corba.rb
 lib/orocos/ports.rb
 lib/orocos/mqueue.rb
 lib/orocos.rb
-ext/corba.cc
-ext/datahandling.cc
-ext/operations.cc
-ext/rblocking_call.h
-ext/FindRTTPlugin.cmake
-ext/ros.cc
-ext/CMakeLists.txt
-ext/RubyExtensions.cmake
-ext/datahandling.hh
-ext/corba.hh
-ext/rorocos.hh
-ext/ruby_task_context.hh
-ext/rorocos.cc
-ext/lib/corba_name_service_client.cc
-ext/lib/corba_name_service_client.hh
-ext/FindRuby.cmake
-ext/LibFindMacros.cmake
-ext/ruby_task_context.cc
+ext/rorocos/corba.cc
+ext/rorocos/datahandling.cc
+ext/rorocos/operations.cc
+ext/rorocos/rblocking_call.h
+ext/rorocos/FindRTTPlugin.cmake
+ext/rorocos/ros.cc
+ext/rorocos/CMakeLists.txt
+ext/rorocos/extconf.rb
+ext/rorocos/RubyExtensions.cmake
+ext/rorocos/datahandling.hh
+ext/rorocos/corba.hh
+ext/rorocos/rorocos.hh
+ext/rorocos/ruby_task_context.hh
+ext/rorocos/rorocos.cc
+ext/rorocos/lib/corba_name_service_client.cc
+ext/rorocos/lib/corba_name_service_client.hh
+ext/rorocos/FindRuby.cmake
+ext/rorocos/LibFindMacros.cmake
+ext/rorocos/ruby_task_context.cc

Rakefile

@@ -1,31 +1,27 @@
 require 'rake'
+require 'rake/extensiontask'
 require './lib/orocos/version'
-require 'utilrb/doc/rake'
+
+hoe_spec = nil 
 
 begin
     require 'hoe'
     Hoe::plugin :yard
 
-    namespace 'dist' do
-        config = Hoe.spec('orocos.rb') do |p|
-            self.developer("Sylvain Joyeux", "[email protected]")
-
-            self.summary = 'Controlling Orocos modules from Ruby'
-            self.description = paragraphs_of('README.markdown', 3..5).join("\n\n")
-            self.urls = ["http://doudou.github.com/orocos-rb", "http://github.com/doudou/orocos.rb.git"]
-            self.changes = ""
-            licenses << "GPL v2 or later"
+    hoe_spec = Hoe.spec('orocos.rb') do |p|
+        self.developer("Sylvain Joyeux", "[email protected]")
 
-            self.extra_deps <<
-                ['utilrb', ">= 1.1"] <<
-                ['rake', ">= 0.8"] <<
-                ["hoe-yard",   ">= 0.1.2"]
+        self.summary = 'Controlling Orocos modules from Ruby'
+        self.description = paragraphs_of('README.markdown', 3..5).join("\n\n")
+        self.urls = ["http://doudou.github.com/orocos-rb", "http://github.com/doudou/orocos.rb.git"]
+        self.changes = ""
+        licenses << "GPL v2 or later"
 
-            #self.spec.extra_rdoc_files.reject! { |file| file =~ /Make/ }
-            #self.spec.extensions << 'ext/extconf.rb'
-        end
-
-        Rake.clear_tasks(/dist:(re|clobber_|)docs/)
+        self.extra_deps <<
+            ['utilrb', ">= 1.1"] <<
+            ['rake', ">= 0.8"] <<
+            ["rake-compiler",   "~> 0.8.0"] <<
+            ["hoe-yard",   ">= 0.1.2"]
     end
 
 rescue LoadError
@@ -46,28 +42,30 @@ def build_orogen(name)
     Orocos::Rake.generate_and_build File.join(data_dir, name, "#{name}.orogen"), work_dir
 end
 
-task :default => ["setup:ext", "setup:uic"]
 
-namespace :setup do
-    desc "builds Orocos.rb C extension"
-    task :ext do
-        builddir = File.join('ext', 'build')
-        prefix   = File.join(Dir.pwd, 'ext')
-
-        FileUtils.mkdir_p builddir
-        orocos_target = ENV['OROCOS_TARGET'] || 'gnulinux'
-        Dir.chdir(builddir) do
-            FileUtils.rm_f "CMakeCache.txt"
-            if !system("cmake", "-DRUBY_PROGRAM_NAME=#{FileUtils::RUBY}", "-DCMAKE_INSTALL_PREFIX=#{prefix}", "-DOROCOS_TARGET=#{orocos_target}", "-DCMAKE_BUILD_TYPE=Debug", "..")
-                raise "unable to configure the extension using CMake"
-            end
+Rake.clear_tasks(/^default$/)
+task :default => ["setup:ext", "setup:uic"]
 
-            if !system("make") || !system("make", "install")
-                throw "unable to build the extension"
-            end
-        end
-        FileUtils.ln_sf "../ext/rorocos_ext.so", "lib/rorocos_ext.so"
+# Leave in top level namespace to allow rake-compiler to build native gem: 'rake native gem'
+desc "builds Orocos.rb C extension"
+rorocos_task = Rake::ExtensionTask.new('rorocos', hoe_spec.spec) do |ext|
+    # Same info as in ext/rocoros/extconf.rb where cmake
+    # is used to generate the Makefile
+    ext.name = "rorocos"
+    ext.ext_dir = "ext/rorocos"
+    ext.lib_dir = "lib/orocos"
+    ext.tmp_dir = "ext/build"
+    ext.gem_spec = hoe_spec.spec
+    ext.source_pattern = "*.{c,cpp,cc}"
+
+    if not Dir.exists?(ext.tmp_dir)
+        FileUtils.mkdir_p ext.tmp_dir
     end
+end
+
+namespace :setup do
+    # Rake-compiler provides task: 'compile'
+    task :ext => :compile
 
     desc "builds the oroGen modules that are needed by the tests"
     task :orogen_all do
@@ -120,29 +118,7 @@ namespace :setup do
     end
 end
 task :setup => "setup:ext"
-desc "remove by-products of setup"
-task :clean do
-    FileUtils.rm_rf "ext/build"
-    FileUtils.rm_rf "ext/rorocos_ext.so"
-    FileUtils.rm_rf "lib/rorocos_ext.so"
-    FileUtils.rm_rf "test/working_copy"
-end
 
-if Utilrb.doc?
-    namespace 'doc' do
-        Utilrb.doc 'api', :include => ['lib/**/*.rb'],
-            :exclude => [],
-            :target_dir => 'doc',
-            :title => 'orocos.rb'
-
-        # desc 'generate all documentation'
-        # task 'all' => 'doc:api'
-    end
-
-    task 'redocs' => 'doc:reapi'
-    task 'doc' => 'doc:api'
-    task 'docs' => 'doc'
-else
-    STDERR.puts "WARN: cannot load yard or rdoc , documentation generation disabled"
-end
+# Add removal of by-products of test setup to the clean task
+CLEAN.include("test/working_copy")
 

ext/CMakeLists.txt → ext/rorocos/CMakeLists.txt

@@ -118,19 +118,20 @@ ENDMACRO(OMNIORB)
 link_directories(${RTT_ROS_LIBRARY_DIRS})
 
 OMNIORB()
-ADD_RUBY_EXTENSION(rorocos_ext 
+SET(EXTENSION_NAME rorocos)
+ADD_RUBY_EXTENSION(${EXTENSION_NAME}
     ruby_task_context.cc rorocos.cc corba.cc datahandling.cc operations.cc
     lib/corba_name_service_client.cc ${ORB_IDL_FILES} ${ROS_FILES})
-target_link_libraries(rorocos_ext ${ORB_LIBRARIES} ${RTT_LIBRARIES}
+target_link_libraries(${EXTENSION_NAME} ${ORB_LIBRARIES} ${RTT_LIBRARIES}
     ${RTT_CORBA_LIBRARIES} ${TYPELIB_LIBRARIES}
     ${RTT_PLUGIN_rtt-typekit_LIBRARY}
     ${RTT_PLUGIN_rtt-transport-corba_LIBRARY}
     ${RTT_Typelib_LIBRARIES}
     ${RTT_ROS_LIBRARIES})
 if (RTT_MQUEUE_FOUND)
-    target_link_libraries(rorocos_ext
+    target_link_libraries(${EXTENSION_NAME}
         ${RTT_PLUGIN_rtt-transport-mqueue_LIBRARY})
 endif()
 
-INSTALL(TARGETS rorocos_ext LIBRARY DESTINATION ".")
+INSTALL(TARGETS ${EXTENSION_NAME} LIBRARY DESTINATION ".")
 

ext/rorocos/extconf.rb

@@ -0,0 +1,16 @@
+require 'rake'
+
+name = "rorocos"
+ext_dir = "ext/rorocos"
+lib_dir = "lib/orocos"
+# Use absolute main package directory as starting point, since rake-compiler uses a build directory which depends on the system architecture and ruby version
+main_dir = File.join(File.dirname(__FILE__),"..","..")
+
+
+orocos_target = ENV['OROCOS_TARGET'] || 'gnulinux'
+FileUtils.rm_f "CMakeCache.txt"
+if !system("cmake", "-DRUBY_PROGRAM_NAME=#{FileUtils::RUBY}", "-DCMAKE_INSTALL_PREFIX=#{File.join(main_dir,lib_dir)}", "-DOROCOS_TARGET=#{orocos_target}", "-DCMAKE_BUILD_TYPE=Debug", File.join(main_dir, ext_dir))
+        raise "unable to configure the extension using CMake"
+end
+
+

ext/rorocos.cc → ext/rorocos/rorocos.cc

@@ -576,7 +576,7 @@ static VALUE mqueue_transportable_type_names(VALUE mod)
 }
 #endif
 
-extern "C" void Init_rorocos_ext()
+extern "C" void Init_rorocos()
 {
     mOrocos = rb_define_module("Orocos");
     mCORBA  = rb_define_module_under(mOrocos, "CORBA");

lib/orocos.rb

@@ -9,9 +9,9 @@
 end
 
 begin
-    require 'rorocos_ext'
-rescue LoadError
-    STDERR.puts "Cannot require orocos.rb's Ruby/C extension"
+    require 'orocos/rorocos'
+rescue LoadError => e
+    STDERR.puts "Cannot require orocos.rb's Ruby/C extension #{e}"
     STDERR.puts "If you are using Rock, this should have been done automatically."
     STDERR.puts "Run"
     STDERR.puts "  amake orocos.rb"

lib/orocos/corba.rb

@@ -1,4 +1,4 @@
-require 'rorocos_ext'
+require 'orocos/rorocos'
 require 'typelib'
 
 module Orocos